octomap.h

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#ifndef TESSERACT_URDF_OCTOMAP_H
#define TESSERACT_URDF_OCTOMAP_H
 
#include <tesseract_common/macros.h>
TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
#include <memory>
#include <string_view>
TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
#include <tesseract_common/fwd.h>
#include <tesseract_geometry/fwd.h>
 
namespace tinyxml2
{
class XMLElement;  // NOLINT
class XMLDocument;
}  // namespace tinyxml2
 
namespace tesseract_urdf
{
static constexpr std::string_view OCTOMAP_ELEMENT_NAME = "tesseract:octomap";
 
std::shared_ptr<tesseract_geometry::Octree> parseOctomap(const tinyxml2::XMLElement* xml_element,
                                                         const tesseract_common::ResourceLocator& locator,
                                                         bool visual);
 
tinyxml2::XMLElement* writeOctomap(const std::shared_ptr<const tesseract_geometry::Octree>& octree,
                                   tinyxml2::XMLDocument& doc,
                                   const std::string& package_path,
                                   const std::string& filename);
 
}  // namespace tesseract_urdf
#endif  // TESSERACT_URDF_OCTOMAP_H